Hand Settings
In the created SPEL+ program, commands related to hand On/Off can also be written using hand control commands. By using the hand function, you can easily check the motion including the operation of the hand from the GUI.
This section describes how to register a hand and how to replace it with a hand control command. For more details on hand settings, refer to the following manual:
"Hand Function Manual"
Example of hand registration
Hand registration is performed on the [Configure Robot Hand: *] screen. The figure below is an example when a chuck with 2 outputs and 1 input is set.
Follow the steps below to register a hand on the [Configure Robot Hand: *] screen.
Depending on the hand, the I/O On/Off setting may be the opposite of the value described in the steps.
- Select the Epson RC+ menu- [Tools]-[Robot Manager]-[Hands] tab.
- Select any hand number.
- Click the [Configure...] button. The [Configure Robot Hand *] screen is displayed.
- Check the [Defined] check box.
- Set [Series:] to “Grippers”.
- Refer to the table below and set the type according to the usage of the output bit GripOff and the input bit PartGripped.
| With PartGripped | Without PartGripped | |
|---|---|---|
| With GripOff | Chuck* Output2 / Input1 | Chuck* Output2 / Input0 |
| Without GripOff | Chuck* Output1 / Input1 | Chuck* Output1 / Input0 |
* For suction hands, use Suction instead of Chuck.
Select [Hand_On]-[Grip] to set [Controller I/O Bit] to “GripOn”.
Set [I/O State] to “On”.
Select [Hand_Off]-[Grip] to set [Controller I/O Bit] to “GripOn”.
Set [I/O State] to "Off".
Perform the steps 9 and 10 only when using a hand with two outputs.
Select [Hand_On]-[Release] to set [Controller I/O Bit] to “GripOff”.
Set [I/O State] to "Off".
Select [Hand_Off]-[Release] to set [Controller I/O Bit] to “GripOff”.
Set [I/O State] to "On".
Perform the steps 11 and 12 only when using a hand with input.
- Select [Hand_On]-[Input1] to set [Controller I/O Bit] to “PartGripped”.
Set [I/O State] to “On”.
- Select [Hand_Off]-[Input1] to set [Controller I/O Bit] to “PartGripped”.
Set [I/O State] to "Off".
- Click the [Apply] button to complete the hand registration.
How to replace with hand control command
The commands related to hand On/Off can be replaced with hand control commands as shown in the table below.
| Before replacement | After replacement |
|---|---|
Off GripOff On GripOn | Hand_On {Hand number} |
On GripOff Off GripOn | Hand_Off {Hand number} |
| Wait Sw(PartGripped) = On | Wait_HandOn({Hand number}) = True |
| Wait Sw(PartGripped) = Off | Wait Hand_Off({Hand number}) = True |